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TODO.md

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Work still to do for spatialmath-python

classes

  • Empty constructor for all

  • == != for all classes

  • UnitQuaternion

    • angle
    • vectorization of vec3 multiplication, v3mul

  • norm, print, plot for all classes

  • use @ operator for composition with normalization

  • vectorization of RPY, Eul, AngVec constructors and converters

  • add from/to to transformations, add check that multiplication is valid

    • keep class variables for a dict of all poses
    • use dot to make a graph
    • use Unicode sub/superscripts to format this nicely (not all letters possible)

  • UnitQuaternion interp, vectorize

  • plot/animate for UnitQuaternion

low level

  • delta2tr, tr2delta
  • colvec to vectors.py
  • trnorm
  • trlog2
  • trinterp
  • homtrans
  • animation
    • animate STL shape
    • animation, animation2 classes
  • move skew/vex family to transforms[23]d
  • tests for argcheck

doco

  • bring all parts to same level
    • pose2d, quaternion, tranforms2d
  • include graphics in the doco
    • docs/source/figs
  • complete Python notebook example for SE3 at least

new work

  • Twist class
  • Plucker class
  • symbolics as much as possible

overall

  • add support channels to doco
  • cleanup all file headers
    • just the purpose
    • acknowledgement/history to comments
  • remove assertions, replace with ValueError
  • autopep8
  • linting
  • revise all error messages, more consistent

tests

  • add assertRaises(except, func) to unit tests
  • fix all TODOs
  • argcheck tests

other

  • Travis matrix test for different Python/numpy versions
  • fixup consequences of spatialmath-matlab name change
    • petercorke.com download page
    • Travis build for RTB matlab
    • MathWorks file exchange
    • badges in README